From 3b3029c4bfd785c19f791493fbea68fe312abf9a Mon Sep 17 00:00:00 2001 From: Andy Shaw Date: Wed, 27 Jun 2018 03:38:31 +0100 Subject: [PATCH] Make max_e_jerk an array to reduce CPU usage (#11118) --- Marlin/src/gcode/config/M200-M205.cpp | 2 +- Marlin/src/lcd/ultralcd.cpp | 2 +- Marlin/src/module/configuration_store.cpp | 2 +- Marlin/src/module/planner.cpp | 15 +++++++++++++-- Marlin/src/module/planner.h | 16 +++++++++++++--- 5 files changed, 29 insertions(+), 8 deletions(-) diff --git a/Marlin/src/gcode/config/M200-M205.cpp b/Marlin/src/gcode/config/M200-M205.cpp index c73f8da3c..a1efe77de 100644 --- a/Marlin/src/gcode/config/M200-M205.cpp +++ b/Marlin/src/gcode/config/M200-M205.cpp @@ -136,7 +136,7 @@ void GcodeSuite::M205() { const float junc_dev = parser.value_linear_units(); if (WITHIN(junc_dev, 0.01, 0.3)) { planner.junction_deviation_mm = junc_dev; - planner.recalculate_max_e_jerk_factor(); + planner.recalculate_max_e_jerk(); } else { SERIAL_ERROR_START(); diff --git a/Marlin/src/lcd/ultralcd.cpp b/Marlin/src/lcd/ultralcd.cpp index 45a0b44b4..590e52410 100644 --- a/Marlin/src/lcd/ultralcd.cpp +++ b/Marlin/src/lcd/ultralcd.cpp @@ -3752,7 +3752,7 @@ void lcd_quick_feedback(const bool clear_buttons) { MENU_BACK(MSG_MOTION); #if ENABLED(JUNCTION_DEVIATION) - MENU_ITEM_EDIT_CALLBACK(float43, MSG_JUNCTION_DEVIATION, &planner.junction_deviation_mm, 0.01, 0.3, planner.recalculate_max_e_jerk_factor); + MENU_ITEM_EDIT_CALLBACK(float43, MSG_JUNCTION_DEVIATION, &planner.junction_deviation_mm, 0.01, 0.3, planner.recalculate_max_e_jerk); #else MENU_MULTIPLIER_ITEM_EDIT(float3, MSG_VA_JERK, &planner.max_jerk[A_AXIS], 1, 990); MENU_MULTIPLIER_ITEM_EDIT(float3, MSG_VB_JERK, &planner.max_jerk[B_AXIS], 1, 990); diff --git a/Marlin/src/module/configuration_store.cpp b/Marlin/src/module/configuration_store.cpp index 544f3b3c8..d58382de8 100644 --- a/Marlin/src/module/configuration_store.cpp +++ b/Marlin/src/module/configuration_store.cpp @@ -331,7 +331,7 @@ void MarlinSettings::postprocess() { #endif #if ENABLED(JUNCTION_DEVIATION) && ENABLED(LIN_ADVANCE) - planner.recalculate_max_e_jerk_factor(); + planner.recalculate_max_e_jerk(); #endif // Refresh steps_to_mm with the reciprocal of axis_steps_per_mm diff --git a/Marlin/src/module/planner.cpp b/Marlin/src/module/planner.cpp index 9083c7759..f5148b024 100644 --- a/Marlin/src/module/planner.cpp +++ b/Marlin/src/module/planner.cpp @@ -126,7 +126,11 @@ float Planner::max_feedrate_mm_s[XYZE_N], // (mm/s) M203 XYZE - Max speeds #if ENABLED(JUNCTION_DEVIATION) float Planner::junction_deviation_mm; // (mm) M205 J #if ENABLED(LIN_ADVANCE) - float Planner::max_e_jerk_factor; // Calculated from junction_deviation_mm + #if ENABLED(DISTINCT_E_FACTORS) + float Planner::max_e_jerk[EXTRUDERS]; // Calculated from junction_deviation_mm + #else + float Planner::max_e_jerk; + #endif #endif #else float Planner::max_jerk[XYZE]; // (mm/s^2) M205 XYZE - The largest speed change requiring no acceleration. @@ -2056,7 +2060,11 @@ bool Planner::_populate_block(block_t * const block, bool split_move, #if ENABLED(LIN_ADVANCE) #if ENABLED(JUNCTION_DEVIATION) - #define MAX_E_JERK (max_e_jerk_factor * max_acceleration_mm_per_s2[_EINDEX]) + #if ENABLED(DISTINCT_E_FACTORS) + #define MAX_E_JERK max_e_jerk[extruder] + #else + #define MAX_E_JERK max_e_jerk + #endif #else #define MAX_E_JERK max_jerk[E_AXIS] #endif @@ -2569,6 +2577,9 @@ void Planner::reset_acceleration_rates() { if (AXIS_CONDITION) NOLESS(highest_rate, max_acceleration_steps_per_s2[i]); } cutoff_long = 4294967295UL / highest_rate; // 0xFFFFFFFFUL + #if ENABLED(JUNCTION_DEVIATION) && ENABLED(LIN_ADVANCE) + recalculate_max_e_jerk(); + #endif } // Recalculate position, steps_to_mm if axis_steps_per_mm changes! diff --git a/Marlin/src/module/planner.h b/Marlin/src/module/planner.h index d981c233e..39dd7a294 100644 --- a/Marlin/src/module/planner.h +++ b/Marlin/src/module/planner.h @@ -210,7 +210,11 @@ class Planner { #if ENABLED(JUNCTION_DEVIATION) static float junction_deviation_mm; // (mm) M205 J #if ENABLED(LIN_ADVANCE) - static float max_e_jerk_factor; // Calculated from junction_deviation_mm + #if ENABLED(DISTINCT_E_FACTORS) + static float max_e_jerk[EXTRUDERS]; // Calculated from junction_deviation_mm + #else + static float max_e_jerk; + #endif #endif #else static float max_jerk[XYZE]; // (mm/s^2) M205 XYZE - The largest speed change requiring no acceleration. @@ -750,9 +754,15 @@ class Planner { #endif #if ENABLED(JUNCTION_DEVIATION) - FORCE_INLINE static void recalculate_max_e_jerk_factor() { + FORCE_INLINE static void recalculate_max_e_jerk() { + #define GET_MAX_E_JERK(N) SQRT(SQRT(0.5) * junction_deviation_mm * (N) * RECIPROCAL(1.0 - SQRT(0.5))) #if ENABLED(LIN_ADVANCE) - max_e_jerk_factor = SQRT(SQRT(0.5) * junction_deviation_mm * RECIPROCAL(1.0 - SQRT(0.5))); + #if ENABLED(DISTINCT_E_FACTORS) + for (uint8_t i = 0; i < EXTRUDERS; i++) + max_e_jerk[i] = GET_MAX_E_JERK(max_acceleration_mm_per_s2[E_AXIS + i]); + #else + max_e_jerk = GET_MAX_E_JERK(max_acceleration_mm_per_s2[E_AXIS]); + #endif #endif } #endif